運動学的に制御可能な再構成可能エンドエフェクタを備えたケーブルロボット
Kinematically Controllable Cable Robots with Reconfigurable End-effectors
ケーブルロボットの回転作業空間を拡大するため、ばねと螺旋溝軸を用いた再構成可能なエンドエフェクタを設計し、張力センシングなしで運動学的制御を可能にした。
著者: Nan Zhang
分類: cs.RO
原文アブストラクト
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2) the solution of tensions in cables becomes non-unique, resulting in difficulties for kinematic control of the robot. In this work, we design structurally simple reconfigurable end-effectors for cable robots. By incorporating a spring, a helical-grooved shaft, and a matching nut, relative linear motions between end-effector components are converted into relative rotations, thereby expanding the rotational workspace of the mechanism. Meanwhile, a bearing is introduced to provide an additional rotational degree of freedom, making the mechanism non-redundant. As a result, the robot's motion can be controlled purely through kinematics without additional tension sensing and control.